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authorNicolas Schodet2010-05-12 23:24:56 +0200
committerNicolas Schodet2010-05-12 23:24:56 +0200
commit3858cf3814d073a279309acbc587648bb10609b9 (patch)
tree0902bcb0e26526df1df2b2a644a345a9d25b7108
parent0120e9729d10c21558b4dfdb54ad202fe39243c9 (diff)
digital/io/src: lower fast speed and raise stop distanceeurobot-2010-homologation
-rw-r--r--digital/io/src/bot.h4
-rw-r--r--digital/io/src/radar.c5
2 files changed, 6 insertions, 3 deletions
diff --git a/digital/io/src/bot.h b/digital/io/src/bot.h
index f0264240..9617ecb2 100644
--- a/digital/io/src/bot.h
+++ b/digital/io/src/bot.h
@@ -45,6 +45,8 @@
/** Distance from the robot axis to the front. */
#define BOT_SIZE_FRONT 120
+/** Distance from the robot axis to the front clamp. */
+#define BOT_SIZE_FRONT_CLAMP (120 + 100)
/** Distance from the robot axis to the back. */
#define BOT_SIZE_BACK (280 - 120)
/** Distance from the robot axis to the side. */
@@ -66,7 +68,7 @@
#define BOT_MIN_DISTANCE_TURN_FREE 300
/** Fast parameters. */
-#define BOT_MOVE_FAST 0x50, 0x50, 0x20, 0x20
+#define BOT_MOVE_FAST 0x30, 0x30, 0x20, 0x20
/** Slow parameters. */
#define BOT_MOVE_SLOW 0x20, 0x20, 0x10, 0x10
diff --git a/digital/io/src/radar.c b/digital/io/src/radar.c
index 6188ff37..5f13b7cb 100644
--- a/digital/io/src/radar.c
+++ b/digital/io/src/radar.c
@@ -158,10 +158,11 @@ radar_blocking (const vect_t *robot_pos, const vect_t *dest_pos,
* stop length. */
uint16_t length;
if (d < RADAR_STOP_MM - RADAR_CLEARANCE_MM)
- length = d + BOT_SIZE_FRONT + RADAR_CLEARANCE_MM
+ length = d + BOT_SIZE_FRONT_CLAMP + RADAR_CLEARANCE_MM
+ RADAR_OBSTACLE_RADIUS_MM;
else
- length = BOT_SIZE_FRONT + RADAR_STOP_MM + RADAR_OBSTACLE_RADIUS_MM;
+ length = BOT_SIZE_FRONT_CLAMP + RADAR_STOP_MM
+ + RADAR_OBSTACLE_RADIUS_MM;
/* To save divisions, multiply limits by vd length. */
int32_t limit = (uint32_t) d * length;
int32_t limitn = (uint32_t) d * (BOT_SIZE_SIDE + RADAR_CLEARANCE_MM